/usr/include/actionlib/server/service_server.h is in libactionlib-dev 1.11.4-2.
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*
* Software License Agreement (BSD License)
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* Copyright (c) 2009, Willow Garage, Inc.
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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef ACTIONLIB_SERVER_SERVICE_SERVER_H_
#define ACTIONLIB_SERVER_SERVICE_SERVER_H_
#include <actionlib/action_definition.h>
#include <actionlib/server/action_server.h>
namespace actionlib {
class ServiceServerImp {
public:
ServiceServerImp(){}
virtual ~ServiceServerImp(){}
};
class ServiceServer {
public:
ServiceServer(boost::shared_ptr<ServiceServerImp> server) : server_(server) {}
private:
boost::shared_ptr<ServiceServerImp> server_;
};
template <class ActionSpec>
ServiceServer advertiseService(ros::NodeHandle n, std::string name,
boost::function<bool (const typename ActionSpec::_action_goal_type::_goal_type&,
typename ActionSpec::_action_result_type::_result_type& result)> service_cb);
template <class ActionSpec>
class ServiceServerImpT : public ServiceServerImp {
public:
//generates typedefs that we'll use to make our lives easier
ACTION_DEFINITION(ActionSpec);
typedef typename ActionServer<ActionSpec>::GoalHandle GoalHandle;
ServiceServerImpT(ros::NodeHandle n, std::string name,
boost::function<bool (const Goal&, Result& result)> service_cb);
void goalCB(GoalHandle g);
private:
boost::shared_ptr<ActionServer<ActionSpec> > as_;
boost::function<bool (const Goal&, Result& result)> service_cb_;
};
};
//include the implementation
#include <actionlib/server/service_server_imp.h>
#endif
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